Anthropomorphic reference track planning method for unmanned driving

A reference trajectory, unmanned technology, applied in the field of unmanned vehicle navigation, can solve the problems of low efficiency, vehicle dynamics characteristics, driving habits and ride comfort, and it is not suitable for unmanned vehicle driving and navigation. Achieve the effect of ensuring feasibility, improving comfort, and reducing difficulty

Active Publication Date: 2017-11-10
北京超星未来科技有限公司
View PDF8 Cites 42 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] At present, the generation method of the turning reference trajectory at the intersection is not perfect. Generally, it is generated by straight line connection, arc connection or manual drawing of vir

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Anthropomorphic reference track planning method for unmanned driving
  • Anthropomorphic reference track planning method for unmanned driving
  • Anthropomorphic reference track planning method for unmanned driving

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0047] The present invention will be described in detail below with reference to the drawings and embodiments.

[0048] Such as figure 1 As shown, the present invention provides an anthropomorphic reference trajectory planning method for unmanned driving, which is suitable for the planning of the reference driving trajectory inside the intersection in the intersection scene of the unmanned vehicle, and specifically includes the following steps:

[0049] 1) Vehicle steering modeling: establish a vehicle steering model, and generate dynamic constraints when the vehicle is steering according to the basic parameters of the vehicle.

[0050] Such as figure 2 As shown, the turning trajectory curve Π is the trajectory swept by the midpoint P of the rear axle of the vehicle. At point P, the tangent of the turning trajectory curve Π is parallel to the direction of the vehicle body, and the instantaneous radius ρ is the turning radius of the vehicle at this moment. The curvature-arc length p...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

PUM

No PUM Login to view more

Abstract

The invention relates to an anthropomorphic reference track planning method for unmanned driving, including the following steps: building a vehicle steering model, and generating dynamic constraints of vehicle steering according to the basic parameters of vehicles; acquiring map information of roads according to a vehicle top decision, and getting start and end point constraint information of a reference track according to the map information; according to the dynamic constraints of vehicle steering and the start and end point constraint information of the reference track, generating a plurality of turning track curves which basically meet the geometric and dynamic constraints of vehicle steering and accord with people's driving habits and steering law, and forming a basic feasible track cluster; and with the integral of lateral acceleration over time as an index, selecting a most comfortable track as a finally generated optimal reference driving track within the intersection from the basic feasible track cluster. As the driving characteristic of people is considered and the driving law of people is simulated, the reference driving track generated is in accordance with the driving habits of people.

Description

Technical field [0001] The invention belongs to the field of unmanned car navigation, and in particular relates to an unmanned driving-oriented anthropomorphic reference trajectory planning method. Background technique [0002] The unmanned vehicle navigation module integrates the results of perception and considers the dynamics of the vehicle to output a trajectory that can be driven. In the fully autonomous car navigation of urban structured roads, navigation tasks are generally divided into three layers: task planning layer, behavior decision layer and trajectory planning layer. The trajectory planning layer is generally divided into two steps: reference trajectory generation without considering moving obstacles and local trajectory planning considering moving obstacles. For the problem of trajectory planning, the reference trajectory is particularly important in complex scenes such as intersections. It compensates for the incompleteness of upper-level mission planning, while...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

Application Information

Patent Timeline
no application Login to view more
IPC IPC(8): G05D1/02
CPCG05D1/0276G05D2201/0212
Inventor 杨殿阁肖中阳江昆焦新宇谢诗超柳超然曹重
Owner 北京超星未来科技有限公司
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Try Eureka
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap